VAORA aligns VLM chain-of-thought reasoning with visual scene observations and post-action outcomes via structured symbolic rewards, achieving cross-task and cross-environment generalization on physical reasoning benchmarks.
OUTPUT FORMAT ( MUST MATCH EXACTLY ) You MUST output EXACTLY these se ct ion s in EXACT order , and NOTHING else : < scene_reasoning >
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Bridging Physical Reasoning and Task Generalization via Visual Action Outcome Reasoning Alignment
VAORA aligns VLM chain-of-thought reasoning with visual scene observations and post-action outcomes via structured symbolic rewards, achieving cross-task and cross-environment generalization on physical reasoning benchmarks.